+ (agbr - ar&t)ee + (aftz - atbt)e:t 9.2.<' I tv L-> t )voi&t'. 76 (ii. ir) = (E,.iz) -([r. d:) = r, (E, 8,\: (Ez rir): (Bg.f,r) = o, (ii1 x fr1y = (d, x ir) = (f,r " is) : 6-, (h t h2) : hr, (h:. hr) h.r, 1[3 '. rrl; = t''2. ([, x,i1.1 = *ir, (d. xi2) = -t;t, ( x i31 = -Er. i ) aircct product L 6 v'i -
-- (Ttt a t *Tt zaz *Traaz)Er * (Tu a t ltzzaz *Tna:)6z * (Tssr tt:naz * Ttsaz)fr's,
5) trt (nabra)! 6!'i.
, )vfrt.<,l- tvryo>@t (rotation)!t
0lrS+.o o:0<2r I'V, e. z)
D rsin d sin d C I cos, ii :cos 0 sin d iii: sin d a :sin O P (x,9. z)
= (sindcos@)h" + (sindsind)ts + (cos0)i., - {cos0c*d)f,, + (cosdsind)[-, r ( sinr)i:. : (-sind)i. + (cosd)iy +(0)i..,t (r0.64) a i.,iu.e. t:-,u'<84< y, : (sindcos@)ir., + (cosdcos 4)D-6 + ( sin qr)er, (sin 0sin d),;, t (cosdsin d)f,p + (cosd)do. - (cosd)t,. + (- sin 0)io + (o)i,o.
4. lt#h&.^. (2 ffi.tfa (A,B) t:$rt6[r,} A i:raf 6qtRft:Hl): 2!! = 2t^sv'p^ Dt
1. t*ffid)a, (v. i): o
pcr"; = 6v''r